CN103425130A - Storage conveying method with automatic tracking and obstacles avoiding functions - Google Patents

Abstract

The invention discloses a warehousing and transportation method for automatically tracking and avoiding obstacles. Black lines are set on the warehouse floor, and the rest of the ground is painted white. The difference in the reflected light on the ground is used to judge whether the warehouse cargo transport trolley deviates from the black line, and control the trolley to return to the set black line to realize the tracking function; use the camera and ultrasonic sensor above the front of the trolley to measure the position and distance of the trolley from the obstacle, Calculate the optimal obstacle avoidance route based on this, and combine the infrared sensors and photoelectric encoders on the left and right sides of the car to bypass obstacles and return to the black line to realize the obstacle avoidance function. The invention is simple and convenient, high in reliability, low in cost and strong in practicability, and can meet the needs of automatic transportation of warehouse goods.

Description

A storage and transportation method for automatic tracking and obstacle avoidance

technical field

The invention relates to the technical field of robot automatic guidance, in particular to a storage and transportation method for automatic tracking and obstacle avoidance.

Background technique

There are two main methods of transporting goods in traditional warehouses: the use of manual driving and the use of smart cars on fixed tracks. Tracking function, but the track is fixed, the cost is high, and it cannot automatically avoid obstacles when encountering obstacles, which has great limitations.

Contents of the invention

The technical problem to be solved by the present invention is to provide a storage and transportation method for automatic tracking and obstacle avoidance in view of the defects of the background technology.

The present invention adopts the following technical solutions for solving the problems of the technologies described above:

A warehousing and transportation method for automatic tracking and obstacle avoidance. Black lines are set on the floor of the warehouse, and the rest of the ground is painted white. The warehousing and transportation trolley is equipped with a camera, a single-chip microcomputer, 12 pairs of infrared sensors, an ultrasonic sensor, a drive module and a vehicle-mounted Power supply, in which the camera and ultrasonic sensor are installed on the front of the car, the emission direction is directly in front of the car, 8 pairs of infrared sensors are installed horizontally under the front of the car at equidistant distances, and the emission direction is directly below the car, and 4 pairs of infrared sensors are respectively installed on the body of the car The side of the four corners, the emission direction is the two sides of the car; the single-chip microcomputer is connected to the camera, 12 pairs of infrared sensors, ultrasonic sensors, and the driving module, and the vehicle power supply is connected to the camera, 12 pairs of single-chip infrared sensors, ultrasonic sensors, and the driving module. Storage and transportation The car automatically tracks along the black line to the destination and turns 180 degrees on the spot, and automatically avoids obstacles when encountering obstacles on the way. The specific steps of automatic tracking are as follows:

Step a), 8 pairs of infrared sensors under the front of the car generate infrared rays and convert the received reflected light into high and low levels;

Step b), binarize the converted level voltage, when the voltage is greater than or equal to 3, take 1, and when the voltage is less than 3, take 0;

Step c), take the binary voltage values of the 4 pairs of infrared sensors on the left side under the front of the car as logic values and calculate to obtain Y ₁ , and calculate the binary voltage values of the 4 pairs of infrared sensors on the right side under the front of the car get _Y2 ;

Step d), if Y ₁ =0 and Y ₂ =0, the single-chip microcomputer controls the drive module to make the car drive straight along the track;

Step e), if Y ₁ =1 and Y ₂ =0, the single-chip microcomputer controls the drive module to deflect the car to the left;

Step f), if Y ₁ =0 and Y ₂ =1, the microcontroller controls the drive module to deflect to the right;

Step g), if Y ₁ =1 and Y ₂ =1, the single-chip microcomputer controls the drive module to turn the car 180 degrees on the spot.

As a further optimization scheme of the present invention, the specific steps of automatic obstacle avoidance are as follows:

Step 1), when the ultrasonic sensor measures the distance between the car and the obstacle is greater than 1 meter and less than 1.5 meters, the single-chip microcomputer controls the camera to capture images;

Step 2), establish a rectangular coordinate system with the lower left point of the image captured by the camera as the origin, calculate the abscissa value Q of the center point of the captured image, and calculate the abscissa value W of the obstacle center in the captured image;

Step 3), compare the calculated obstacle center abscissa value W with the image center point abscissa value Q;

Step 4), if Q≥W, the single-chip microcomputer controls the drive module to make the car turn right 90 degrees, record the time difference between the two infrared sensors on the left side of the car body and receive the reflected signal at this time, and then control the car to move forward, when the car body When the absolute value of the difference between the time difference between the transmitted signal of the two infrared sensors on the left and the received reflected signal and the recorded time difference is greater than 3×10 ^-7 seconds, the single-chip microcomputer controls the drive module to make the car turn left 90 degrees Moving forward, when the absolute value of the difference between the time difference between the two infrared sensors on the left side of the vehicle body transmitting signals and receiving the reflected signals and the recorded time difference is greater than 3×10 ^-7 seconds, the single-chip microcomputer controls the driving module to make the car turn left Move forward after a 90-degree turn, when Y ₁ =0 and Y ₂ =0, the single-chip microcomputer controls the drive module to make the car turn right and move forward after a 90-degree turn;

Step 5), if Q<W, the single-chip microcomputer controls the driving module to make the car turn 90 degrees to the left, record the time difference between the two infrared sensors on the right side of the body and receive the reflected signal, and then control the car to move forward. When the absolute value of the difference between the time difference between the transmitted signal of the two infrared sensors on the right and the received reflected signal and the recorded time difference is greater than 3×10 ^-7 seconds, the single-chip microcomputer controls the drive module to make the car turn right 90 degrees after turning Forward, when the absolute value of the difference between the time difference between the two infrared sensors on the right side of the vehicle body transmitting signals and receiving reflected signals and the recorded time difference is greater than 3×10 ^-7 seconds, the single-chip microcomputer controls the drive module to make the car turn right Move forward after a 90-degree turn. When Y ₁ =0 and Y ₂ =0, the single-chip microcomputer controls the drive module to make the car turn left and move forward after a 90-degree turn.

As a further optimization scheme of the present invention, the steps of calculating the abscissa value of the obstacle center in the captured image are as follows:

Step 2.1), establish a Cartesian coordinate system with the lower left point of the image captured by the CCD camera as the origin, perform threshold segmentation and binarization on the image of the established coordinate system according to the following formula, and obtain the gray value of the binarized image B(m, n):

Among them, I(m, n) is the gray value of the collected image data, T is the binarization segmentation threshold of obstacles and background, T=210, m and n are the horizontal and vertical coordinate values of the current position pixel respectively, and m, n are integers not less than 0, m=0, 1, 2,..., 98, 99, n=0, 1, 2,..., 78, 79;

其中g为不小于0的整数，g=0，1，2，…，98，99；Step 2.2), add the gray values of the pixels on each column after image binarization, and store the calculation results in the array A[g] respectively,

Where g is an integer not less than 0, g=0, 1, 2, ..., 98, 99;

Step 2.3), filter the gray value in the array, determine the left and right boundaries of the obstacle, and store the results in the arrays A[j] and F[h]:

First, g takes values according to 0, 1, 2, ..., 49, 50 and when the condition A[g+2]-A[g]≥15&&A[g+2]≥25&&A[g]≤5 is satisfied, the The value of g' is sequentially stored in the array E[j], where g'=g+2, j is an integer not less than 0, and j=0, 1, 2,..., 49, 50;

When all values of g do not satisfy the condition A[g+2]-A[g]≥15&&A[g+2]≥25&&A[g]≤5, store the abscissa value Q of the image center point in E[0], That is, E[0]=Q, and Q=50;

Secondly, g takes values according to 0, 1, 2, ..., 49, 50 and when the condition A[100-g-2]-A[100-g]≥15&&A[100-g-2]≥25&&A[100 When -g]≤5, store the value of g'' in the array F[h] in sequence, where g''=100-g-2, h is an integer not less than 0, and h=0, 1, 2 ,...,49,50;

When all values of g do not meet the condition A[100-g-2]-A[100-g]≥15&&A[100-g-2]≥25&&A[100-g]≤5, the abscissa value of the image center point Q is stored in F[0], that is, F[0]=Q, and Q=50.

Step 2.4), calculate the abscissa value of the center point of the obstacle W=(E[0]+F[0])/2.

Compared with the prior art, the present invention adopts the above technical scheme and has the following technical effects:

1. Simple structure and low cost;

2. Can automatically track;

3. With automatic obstacle avoidance function.

Description of drawings

Fig. 1 is the schematic diagram of trolley transportation;

Figure 2 is a schematic diagram of the system circuit of the trolley;

Fig. 3 is the structural representation of dolly;

Fig. 4 is a schematic diagram of obstacle avoidance to the right of the embodiment;

Fig. 5 is a schematic diagram of leftward obstacle avoidance of the embodiment.

Detailed ways

Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

As shown in Figure 1, a 0.15-meter black line 2 is set on the warehouse floor, and the rest of the ground is painted white. The storage and transport trolley 1 automatically follows the black line 2 to the destination and turns 180 degrees on the spot. Automatic obstacle avoidance when there are 3 obstacles.

As shown in Figure 2, this embodiment discloses a storage and transportation method for automatic tracking and obstacle avoidance, which includes a car body on which a camera 101, a single-chip microcomputer, an ultrasonic sensor 102, a drive module, an on-board power supply and 12 pairs of infrared rays are arranged. Sensors A, B, C, D, E, F, G, H, I, J, K, L, wherein the camera 101 and the ultrasonic sensor 102 are installed on the front of the car, and the emission direction is directly in front of the car, 8 pairs of infrared sensors A , B, C, D, E, F, G, H are installed horizontally under the front of the trolley at an interval of 0.1 meters, and the emission direction is directly below the trolley. 4 pairs of infrared sensors I, J, K, L are respectively installed at the four corners of the trolley Side, the launch direction is the two sides of the car.

The trolley body includes a left driving wheel 103, a right driving wheel 104, and a driven wheel 105, and the driving module includes a driving motor and two photoelectric encoders M, N, wherein the photoelectric encoder M is installed on the left driving wheel 103, and the photoelectric encoder N Be installed on the right drive wheel 104.

As shown in Figure 3, the camera adopts CCD camera OV6620, the single-chip microcomputer adopts MC9S12DG128 single-chip microcomputer, and the infrared sensor adopts RPR220 infrared sensor. The single-chip microcomputer is connected with the camera, 12 pairs of infrared sensors, ultrasonic sensors, and the driving module respectively. The infrared sensor, the ultrasonic sensor and the drive module are connected.

The 8 pairs of infrared sensors under the front of the car will have a greater reflection when the infrared rays are irradiated on the white ground, and the intensity of the reflected infrared rays received is greater. When the infrared rays are irradiated on the black line, the black line will absorb most of the infrared light and receive the infrared light. The strength is very weak.

The tracking method of the trolley in this embodiment is as follows:

By setting the logic variables Y ₁ and Y ₂ , judge whether the trolley deviates from the black line according to the logic values of Y ₁ and Y ₂ , and then determine the rotation direction of the two driving wheels. When Y ₁ =0 and Y ₂ =0, If it does not deviate from the black line, at this time, the single-chip microcomputer controls the driving wheel through the driving motor to make the trolley run straight along the black line; when Y ₁ =1 and Y ₂ =0, the trolley deviates to the right, at this time, the single-chip microcomputer controls the driving through the driving motor The wheel deflects the trolley to the left to return to the black line; when Y ₁ =0 and Y ₂ =1, the trolley deflects to the left, at this time the single-chip microcomputer controls the driving wheel through the drive motor to deflect the trolley to the right to return to the black line; Y ₁ =1 and Y ₂ =1, the single-chip microcomputer reaches the destination, and the single-chip microcomputer controls the drive motor through the photoelectric encoder to make the left and right wheels of the trolley turn 180 degrees in situ.

The above Y ₁ and Y ₂ are defined as Y ₁ = _VA '&V _B '&V _C '&V _D ', Y ₂ =VE'&V _F '& _{V G '} &V _H ', where V _A ', V _B ', V _C ', V _D ', V _E ', V _F ', V _G ', V _H ' are logic variables. Under normal circumstances, when the car is running, the infrared sensors D and E receive low levels, and the other six infrared sensors A, B, C, F, G, and H receive high levels, so set 8 infrared sensors A, The voltage values received by B, C, D, E, F, G, and H are respectively V ₀ , V ₁ , V ₂ , V ₃ , V ₄ , V ₅ , V ₆ , and V ₇ , and the received voltage Binarize the value $V_i=\left\{\begin{array}{c}1,V_i\&Greater\; Equal;3\\ 0,V_i<3\end{array}\right.,$ Where i=0, 1, 2, 3, 4, 5, 6, 7, the obtained voltage values are only 0 and 1, and the binarized 0 and 1 are set as logic false and logic true respectively, Assigned to the corresponding logic variables V _A ', V _B ', V _C ', V _D ', VE ', V _F ', _{V G '} , V _H ', that is, V _A '=V ₀ , V _B '= V ₁ , V _C '=V ₂ V _D '=V ₃ , V _E '=V ₄ , V _F '=V ₅ , V _G '=V ₆ , V _H '=V ₇ .

In this embodiment, the method for automatic obstacle avoidance of the car is as follows:

(1) Solve the abscissa value of the obstacle center captured by the CCD camera.

First, establish a Cartesian coordinate system with the lower left point of the image taken by the CCD camera as the origin, and perform threshold segmentation and binarization on the image of the established coordinate system to obtain the gray value B(m,n) of the binarized image:

Among them, I(m, n) is the gray value of the collected image data, T is the binarization segmentation threshold of obstacles and background, T=210, m and n are the horizontal and vertical coordinate values of the current position pixel respectively, and m and n are integers not less than 0, m=0, 1, 2,..., 98, 99, n=0, 1, 2,..., 78, 79.

其中g为不小于0的整数，且g=0，1，2，…，98，99。Then, the image is horizontally projected, that is, the gray value of the pixels on each column after the image is binarized is added, and the calculation results are respectively stored in the array A[g],

Where g is an integer not less than 0, and g=0, 1, 2, ..., 98, 99.

Finally, calculate the abscissa value of the center point of the obstacle.

Filter the gray value in the array according to the following conditions, and store the results in the arrays E[j] and F[h], so as to determine the left and right boundaries of the obstacle:

g takes values according to 0, 1, 2, ..., 49, 50 and when the condition A[g+2]-A[g]≥15&&A[g+2]≥25&&A[g]≤5 is met, set g' The values of are stored in the array E[j] in turn, where g′=g+2, j is an integer not less than 0, and j=0, 1, 2,..., 49, 50;

When all values of g do not satisfy the condition A[g+2]-A[g]≥15&&A[g+2]≥25&&A[g]≤5, store the abscissa value Q of the image center point in E[0], That is, E[0]=Q, and Q=50;

g takes values according to 0, 1, 2, ..., 49, 50 and when the condition A[100-g-2]-A[100-g]≥15&&A[100-g-2]≥25&&A[100-g is satisfied ]≤5, store the value of g'' in the array F[h] sequentially, where g''=100-g-2, h is an integer not less than 0, and h=0, 1, 2,... , 49, 50;

When all values of g do not meet the condition A[100-g-2]-A[100-g]≥15&&A[100-g-2]≥25&&A[100-g]≤5, the abscissa value of the image center point Q is stored in F[0], that is, F[0]=Q, and Q=50.

Calculate the abscissa value of the center point of the obstacle W=(E[0]+F[0])/2.

(2) Combining ultrasonic sensors and infrared sensors (I, K, J, L) to avoid obstacles

v₀为超声波传输速度，t₀为发射器发射信号与接收器接收反射信号之间的时间差。As shown in Figure 4, when the ultrasonic sensor detects that the distance x ₀ between the storage transport trolley 1 and the obstacle 3 satisfies: x ₀ >1.0 meters, and x ₀ <1.5 meters, that is, when the trolley moves to the position P ₀ , compare the abscissa value W of the obstacle center point with the abscissa value Q of the image center position, where,

v ₀ is the ultrasonic transmission speed, t ₀ is the time difference between the signal transmitted by the transmitter and the reflected signal received by the receiver.

即，前后障碍物之间存在长度小于车身长度的空隙时，则小车继续前进，直到满足条件

则小车后轮到达位置P₂，单片机通过光电编码器控制驱动电机使小车左右轮向左转90度，小车再次直线前进；当小车车头向下的8个红外线接收探头接收到的电压值经量化后均为低电平时，此时小车已回到黑线上，即小车到达位置P₃，单片机通过光电编码器控制驱动电机使小车左右轮向右转90度后，继续直线行驶，这种情况下的避障路线如图4所示，最后，重复步骤一、步骤二的过程，直到仓储小车将货物运送到目的地，当逻辑变量Y₁和Y₂满足条件

单片机通过光电编码器控制驱动电机使小车左右轮原地转180度后沿原来迹线返回出发地。If Q≥W, as shown in Figure 4, that is, the car is on the right side of the center of the obstacle, the single-chip microcomputer controls the drive motor through the photoelectric encoder to make the left and right wheels of the car turn 90 degrees to the right and then continue to move forward; Infrared rays are emitted. Initially, the time difference between the signal emitted by the transmitting probe and the reflected signal received by the receiving probe is t ₁ . When K’s receiving probe receives the reflected signal, the time difference becomes t _K , and |t _K -t ₁ |≥ 3×10 ^-7 seconds, that is, when the rear wheel of the trolley reaches position P ₁ , the single-chip microcomputer controls the driving motor through the photoelectric encoder to make the left and right wheels of the trolley turn 90 degrees to the left and then continue to move forward; the emission probes of the infrared sensors I and K on the left side of the trolley simultaneously Infrared rays are emitted, and the time difference between the initial reception of the reflected signal by the receiving probe is t ₂ , t' ₂ , until the time difference between I and K infrared ray receiving probes receiving the reflected signal is t' _I , t' _K , when the following conditions are met

That is, when there is a gap between the front and rear obstacles whose length is less than the length of the vehicle body, the car will continue to move forward until the condition is met

Then the rear wheel of the trolley reaches the position P ₂ , the single-chip microcomputer controls the drive motor through the photoelectric encoder to turn the left and right wheels of the trolley 90 degrees to the left, and the trolley moves forward again in a straight line; When both are low level, the car has returned to the black line at this time, that is, the car has reached the position P ₃ , the single-chip microcomputer controls the drive motor through the photoelectric encoder to turn the left and right wheels of the car to the right 90 degrees, and then continue to drive straight. The following obstacle avoidance route is shown in Figure 4. Finally, repeat the process of step 1 and step 2 until the warehouse trolley delivers the goods to the destination. When the logic variables Y ₁ and Y ₂ meet the conditions

The single-chip microcomputer controls the driving motor through the photoelectric encoder to make the left and right wheels of the trolley turn 180 degrees in situ and then return to the starting point along the original track.

即，前后障碍物之间存在长度小于车身长度的空隙时，则小车继续前进，直到满足条件

则小车后轮到达位置P₄，单片机通过光电编码器控制驱动电机使小车左右轮向右转90度，小车再次直线前进；当小车车头向下的8个红外线接收探头接收到的电压值经量化后均为低电平时，此时小车已回到黑线上，即小车到达位置P₃，单片机通过光电编码器控制驱动电机使小车左右轮向左转90度，继续直线行驶，这种情况下的避障路线如图5所示，重复步骤一、步骤二的过程，直到小车将货物运送到目的地，最后，当逻辑变量Y₁和Y₂满足条件单片机通过光电编码器控制驱动电机使小车左右轮原地转180度后沿原来迹线返回出发地。If Q<W, as shown in Figure 5, that is, the car is on the left side of the center of the obstacle, the single-chip computer controls the drive motor through the photoelectric encoder to make the left and right wheels of the car turn 90 degrees to the left and then continue to move forward; during the forward process, the emission probe of the infrared sensor L emits Infrared rays, initially, the time difference between the signal emitted by the transmitting probe and the reflected signal received by the receiving probe is t ₃ , when the receiving probe of L receives the reflected signal, the time difference becomes t _L , and |t _L -t ₁ |≥3 ×10 ^-7 seconds, that is, when the rear wheel of the trolley reaches the position P ₅ , the single-chip microcomputer controls the drive motor through the photoelectric encoder to make the left and right wheels of the trolley turn 90 degrees to the right and then continue to move forward; the emission probes of the infrared sensors J and L on the right side of the trolley emit simultaneously Infrared rays, the time difference between the initial reception of the transmitting signal by the receiving probe is t ₄ , t' ₄ , until the time difference between J and L infrared receiving probes receiving the reflected signal is t' _J , t' _L , when the following conditions are met

That is, when there is a gap between the front and rear obstacles whose length is less than the length of the vehicle body, the car will continue to move forward until the condition is met

Then the rear wheel of the trolley reaches the position P ₄ , the single-chip microcomputer controls the driving motor through the photoelectric encoder to turn the left and right wheels of the trolley to the right 90 degrees, and the trolley moves straight again; When both are low, the trolley has returned to the black line at this time, that is, the trolley has reached the position P ₃ , the single-chip microcomputer controls the drive motor through the photoelectric encoder to turn the left and right wheels of the trolley 90 degrees to the left, and continue to drive straight. The obstacle avoidance route is shown in Figure 5. Repeat steps 1 and 2 until the car delivers the goods to the destination. Finally, when the logic variables Y ₁ and Y ₂ meet the conditions The single-chip microcomputer controls the driving motor through the photoelectric encoder to make the left and right wheels of the trolley turn 180 degrees in situ and then return to the starting point along the original track.

Claims (3)

1. the storage transportation resources that automatic tracking is kept away barrier, black line is set on warehouse floor, and all the other floor brushs are become to white, the storage travelling bogie is provided with camera, single-chip microcomputer, 12 pairs of infrared ray sensors, ultrasonic sensor, driver module and vehicle power, wherein camera and ultrasonic sensor are arranged on directly over dolly headstock centre, the dead ahead that transmit direction is dolly, 8 pairs of equidistant laterally being arranged on below the dolly headstock of infrared ray sensor, transmit direction is under dolly, the 4 pairs of infrared ray sensors are arranged on respectively the side of four jiaos of the vehicle bodies of dolly, the both sides that transmit direction is dolly, single-chip microcomputer is connected with camera, 12 pairs of infrared ray sensors, ultrasonic sensor, driver modules respectively, vehicle power is connected with camera, single-chip microcomputer 12 pairs of infrared ray sensors, ultrasonic sensor, driver modules respectively, the storage travelling bogie arrives original place turnback behind destination along the black line automatic tracking, automatic obstacle-avoiding while running into barrier midway is characterized in that the concrete steps of automatic tracking are as follows:

Step a), 8 pairs of infrared ray sensor emission infrared rays of headstock below also convert the reflection ray received to low and high level;

Step b), by the level voltage binaryzation be converted to, when voltage is more than or equal to 3, get 1, when voltage is less than 3, gets 0;

Step c), obtain Y using the magnitude of voltage of 4 pairs of infrared ray sensor binaryzations of left side of face under headstock as logical value after work and calculating ₁, using the magnitude of voltage of 4 pairs of infrared ray sensor binaryzations of right side of face under headstock as logical value, after work and calculating, obtain Y ₂

Step d), if Y ₁=0 and Y ₂=0, the Single-chip Controlling driver module makes dolly along the trace straight-line travelling;

Step e), if Y ₁=1 and Y ₂=0, the Single-chip Controlling driver module makes dolly deflection left;

Step f), if Y ₁=0 and Y ₂=1, the Single-chip Controlling driver module makes dolly deflection to the right;

Step g), if Y ₁=1 and Y ₂=1, the Single-chip Controlling driver module makes dolly original place turnback.

2. keep away the storage transportation resources of barrier based on a kind of automatic tracking claimed in claim 1, it is characterized in that the concrete steps of automatic obstacle-avoiding are as follows:

Step 1), ultrasonic sensor is measured dolly and is greater than 1 meter while being less than 1.5 meters apart from the distance of barrier, Single-chip Controlling camera photographic images;

Step 2), the image lower-left point that the camera of take is taken is set up rectangular coordinate system as initial point, calculates clapped image center abscissa value Q, and calculates barrier center abscissa value W in clapped image;

Step 3), the barrier center abscissa value W relatively calculated and image center abscissa value Q;

Step 4), if Q>=W, it is curved that the Single-chip Controlling driver module turn 90 degrees dolly to the right, recording now two infrared ray sensors in vehicle body left side transmits and receives the mistiming between reflected signal, then control dolly and advance, when two, vehicle body left side infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording ^-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance, when two, left side of vehicle body infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording ^-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance, work as Y ₁=0 and Y ₂=0 o'clock, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance;

Step 5), if Q<W, it is curved that the Single-chip Controlling driver module turn 90 degrees dolly left, recording now two, vehicle body right side infrared ray sensor transmits and receives the mistiming between reflected signal, then control dolly and advance, when two, vehicle body right side infrared ray sensor transmits and receives mistiming between reflected signal, with the absolute value of the difference of the mistiming of recording, all be greater than 3 * 10 ^-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance, when two, vehicle body right side infrared ray sensor transmits and mistiming of receiving between reflected signal all is greater than 3 * 10 with the absolute value of the difference of the mistiming of recording ^-7Second the time, the Single-chip Controlling driver module turn 90 degrees after curved dolly to the right to advance, work as Y ₁=0 and Y ₂=0 o'clock, the Single-chip Controlling driver module turn 90 degrees after curved dolly left to advance.

3. a kind of automatic tracking according to claim 2 is kept away the storage transportation resources of barrier, it is characterized in that step 2) described in to calculate the step of the barrier center abscissa value in image of clapping as follows:

Step 2.1), the photographic images lower-left point of CCD camera of take is set up rectangular coordinate system as initial point, as follows the image of setting up coordinate system is carried out to Threshold segmentation binary conversion treatment, obtains the gray-scale value B (m, n) of binary image:

Wherein I (m, n) is the gray-scale value of the view data of collection, the binarization segmentation threshold value that T is barrier and background, and T=210, m, n are respectively horizontal stroke, the ordinate value of current pixel location, and m, and n is not less than 0 integer, m=0,1,2 ..., 98,99, n=0,1,2 ..., 78,79;

Step 2.2), the gray-scale value of the pixel that after image binaryzation, each lists is carried out to addition, and result of calculation is stored in respectively to array A[g] in,

Wherein g is not less than 0 integer, g=0, and 1,2 ..., 98,99;

Step 2.3), ash value degree in array is screened, is determined the border, left and right of barrier, and by result store at array A[j] and F[h] in:

At first, g is according to 0,1,2 ..., 49,50 successively value and as the A[g+2 that satisfy condition]-A[g] >=15& & A[g+2] >=25& & A[g]≤5 o'clock, the value of g ' is stored in to array E[j successively] in, wherein, g '=g+2, j is for being not less than 0 integer, and j=0, and 1,2 ..., 49,50;

As the g all values A[g+2 that all do not satisfy condition]-A[g] >=15& & A[g+2] >=25& & A[g]≤5 o'clock, by image center abscissa value Q storage E[0] in, i.e. E[0]=Q, and Q=50;

Secondly, g is according to 0,1,2 ..., 49,50 successively value and as the A[100-g-2 that satisfy condition]-A[100-g] >=15& & A[100-g-2] >=25& & A[100-g]≤5 o'clock, the value of g ' ' is stored in to array F[h successively] in, g ' '=100-g-2 wherein, h is not less than 0 integer, and h=0, and 1,2 ..., 49,50;

As the g all values A[100-g-2 that all do not satisfy condition]-A[100-g] >=15& & A[100-g-2] >=25& & A[100-g]≤5 o'clock, by image center abscissa value Q storage F[0] in, i.e. F[0]=Q, and Q=50.

Step 2.4), dyscalculia thing central point abscissa value W=(E[0]+F[0])/2.

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